Handheld gimbal and shooting control method for handheld gimbal

ABSTRACT

A shooting control method includes determining a handheld gimbal is in a selfie mode, determining a target object, controlling a shooting device of the handheld gimbal to track and shoot the target object according to the target object, determining position information of the target object in a shooting image according to the target object, adjusting a control parameter of the shooting device according to the position information of the target object in the shooting image, to enable the shooting device to shoot the target object in a preset configuration to obtain the shooting image, and displaying the shooting image.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of application Ser. No. 17/329,126,filed on May 24, 2021, which is a continuation of InternationalApplication No. PCT/CN2018/117963, filed Nov. 28, 2018, the entirecontents of both of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of gimbal and, inparticular, to a handheld gimbal and a shooting control method for thehandheld gimbal.

BACKGROUND

In the existing technology, when a user uses a handheld gimbal forshooting, it is needed to manually capture an object and place a targetobject in a suitable position on a shooting image. However, when theobject is always in motion, it is difficult to capture every shootingimage stably when the user manually tracks the object. When the user isin a bumpy and unstable state, the shooting device at the handheldgimbal cannot be always pointed at the object. In addition, when theuser uses an extension stick, it is difficult for the user to see theshooting image on a display screen of the shooting device, thereby theuser cannot complete composition of the image. Especially, when the usertakes a selfie, it is difficult to achieve an expected shooting effectwith the existing handheld gimbal.

If the user needs to observe the shooting image in real time, anadditional terminal (such as a mobile phone) that is compatible with thehandheld gimbal is required. During the shooting, the handheld gimbalwill send the shooting image to the terminal, and the user needs toobserve the shooting image in real time on a terminal application (APP),which is cumbersome and inconvenient.

SUMMARY

In accordance with the disclosure, there is provided a shooting controlmethod including determining a handheld gimbal is in a selfie mode,determining characteristic information of a target object, controlling ashooting device of the handheld gimbal to track and shoot the targetobject according to the characteristic information of the target object,determining position information of the target object in a shootingimage according to the characteristic information of the target object,adjusting a control parameter of the shooting device according to theposition information of the target object in the shooting image, toenable the shooting device to shoot the target object in a presetconfiguration to obtain the shooting image, and displaying the shootingimage in real time on a display screen of the handheld gimbal.

Also in accordance with the disclosure, there is provided a handheldgimbal including a handle, a gimbal fixedly connected to the handle, ashooting device mounted at the gimbal and used to shoot images, adisplay screen provided at the handle, and a controller electricallyconnected to the gimbal, the shooting device, and the display screen,and used to receive images shot by the shooting device and, according tothe received image, determine the handheld gimbal is in a selfie mode,determine characteristic information of a target object, control theshooting device to track and shoot the target object according to thecharacteristic information of the target object, determine positioninformation of the target object in a shooting image according to thecharacteristic information of the target object, adjust a controlparameter of the shooting device according to the position informationof the target object in the shooting image, to enable the shootingdevice to shoot the target object in a preset configuration to obtainthe shooting image, and control the display screen to display theshooting image in real time.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flow chart of a shooting control method for ahandheld gimbal according to an example embodiment of the presentdisclosure.

FIG. 2A is a schematic interface diagram showing a click operationperformed by a user on a display screen for a preview image according toan example embodiment of the present disclosure.

FIG. 2B is a schematic interface diagram showing obtaining a targetobject from the preview image consistent with the embodiments of thepresent disclosure.

FIG. 2C is a schematic interface diagram showing an enlargementoperation on the display screen consistent with the embodiments of thepresent disclosure.

FIG. 2D is a schematic interface diagram showing a frame selectionoperation on the preview image after the enlargement operationconsistent with the embodiments of the present disclosure.

FIG. 3A is a schematic interface diagram showing the frame selectionoperation performed by the user on the display screen for the previewimage consistent with the embodiments of the present disclosure.

FIG. 3B is another schematic interface diagram showing obtaining thetarget object from the preview image consistent with the embodiments ofthe present disclosure.

FIG. 4A is a schematic diagram showing a shooting image output by ashooting device consistent with the embodiments of the presentdisclosure.

FIG. 4B is a schematic diagram showing another shooting image output bythe shooting device consistent with the embodiments of the presentdisclosure.

FIG. 4C is a schematic diagram showing another shooting image output bythe shooting device consistent with the embodiments of the presentdisclosure.

FIG. 5 is a schematic flow chart of a shooting control method for thehandheld gimbal according to another example embodiment of the presentdisclosure.

FIG. 6A is a schematic diagram showing another shooting image output bythe shooting device consistent with the embodiments of the presentdisclosure.

FIG. 6B is a schematic diagram showing another shooting image output bythe shooting device consistent with the embodiments of the presentdisclosure.

FIG. 6C is a schematic diagram showing another shooting image output bythe shooting device consistent with the embodiments of the presentdisclosure.

FIG. 7 is a schematic flow chart of a shooting control method for thehandheld gimbal according to another example embodiment of the presentdisclosure.

FIG. 8 is a perspective view of a handheld gimbal according to anexample embodiment of the present disclosure.

FIG. 9 is a structural block diagram of the handheld gimbal shown inFIG. 8.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that the describedembodiments are some rather than all of the embodiments of the presentdisclosure. Other embodiments conceived by those having ordinary skillsin the art on the basis of the described embodiments without inventiveefforts should fall within the scope of the present disclosure.

A handheld gimbal and a shooting control method for the handheld gimbalwill be described in detail below with reference to the drawings. Whenthere is no conflict, the following embodiments and features of theembodiments can be combined with each other.

The handheld gimbal consistent with the embodiments of the presentdisclosure includes a shooting device and a display screen. The shootingdevice may be an integrated shooting device, such as a camera or amobile phone, or may include an optical lens and an image sensor. Thehandheld gimbal also includes a handle and a gimbal, and the shootingdevice is mounted at the handle via the gimbal. The gimbal may be atwo-axis gimbal or a three-axis gimbal. The gimbal can at least rotatearound a yaw axis to drive the shooting device to rotate in a yawdirection.

In some embodiments, the display screen is a part of the handheld gimbalrather than being set separately. Specifically, the display screen isprovided at the handle. The display screen can include an LCD liquidcrystal display screen or another type of display screen. A size of thedisplay screen may include a small size, such as a 3×3 cm², or mayinclude another size, which is not limited here.

In addition, the handheld gimbal also includes a controller, which canexecute the shooting control method consistent with the embodiments ofthe present disclosure.

FIG. 1 is a schematic flow chart of the shooting control method for ahandheld gimbal according to an example embodiment of the presentdisclosure. As shown in FIG. 1, the shooting control method for ahandheld gimbal according to an example embodiment of the presentdisclosure includes following processes.

At S101, when the handheld gimbal is in a selfie mode, characteristicinformation of the target object is determined.

In an example embodiment, the handheld gimbal may have a plurality ofshooting modes, such as a single shooting mode, a continuous shootingmode, a panoramic mode, a scene (such as portrait, landscape, sports,etc.) mode, etc. The handheld gimbal may also have a normal shootingmode and the selfie mode. In some embodiments, the selfie mode refers toa tracking selfie mode rather than a single-shot selfie.

By default, when the handheld gimbal is turned on, the handheld gimbalis in the mode same as that when the handheld gimbal was last turnedoff. In some embodiments, the handheld gimbal was in the selfie modewhen the handheld gimbal was turned off last time, and the controllercan detect that the handheld gimbal is in the selfie mode after thehandheld gimbal is currently turned on.

In some embodiments, the handheld gimbal was in the normal shooting modewhen the handheld gimbal was last turned off, and the handheld gimbal isin the normal shooting mode after the handheld gimbal is currentlyturned on. After the handheld gimbal is currently turned on, if a userneeds to take a selfie, the handheld gimbal needs to be triggered to bein the selfie mode. In an example embodiment, before process S101, it isrequired to determine that the handheld gimbal is triggered to be in theselfie mode.

Specifically, the handheld gimbal can be switched from the normalshooting mode to the selfie mode using automatic triggering or manualtriggering, which is described below.

In some embodiments, the handheld gimbal is switched from the normalshooting mode to the selfie mode using the automatic triggering.Specifically, the controller obtains a preview image shot by theshooting device, determines that a specific target object exists in thepreview image according to a target detection algorithm, and thenswitches the handheld gimbal from the normal shooting mode to the selfiemode. In this implementation manner, after obtaining the preview imageshot by the shooting device, if the controller determines that there isa specific target object in the preview image according to the targetdetection algorithm, then the controller determines that the handheldgimbal is triggered to be in the selfie mode.

The specific target object can include a person, a car, a boat, etc. Ina feasible implementation manner, the controller can detect the targetobject in the preview image through a neural network model. For example,when determining the characteristic information of the target object,the controller detects the position and size of the target object in thepreview image through the neural network model.

In another feasible implementation manner, the controller can detect thetarget object in the preview image through a face detection algorithm ora target contour detection algorithm. When determining thecharacteristic information of the target object, the controller extractsface characteristic information of the target object in the previewimage according to the face detection algorithm, or extracts contourcharacteristic information of the target object in the preview imageaccording to the target contour detection algorithm.

In the above implementation manners, the target object in the previewimage can include one or more target objects.

In some embodiments, the handheld gimbal is switched from the normalshooting mode to the selfie mode using the manual triggering.Specifically, the controller obtains the preview image shot by theshooting device and controls to display the preview image on the displayscreen. If the controller obtains a tracking trigger operation performedby the user on the display screen for the preview image, the controllerswitches the handheld gimbal from the normal shooting mode to the selfiemode. In an example embodiment, after the controller obtains the previewimage shot by the shooting device and controls to display the previewimage on the display screen, if the controller obtains a trackingtrigger operation performed by the user on the display screen for thepreview image, then the controller determines that the handheld gimbalis triggered to be in the selfie mode.

The tracking trigger operation obtained by the controller may include aclick operation, a frame selection operation, both the click operationand the frame selection operation, or another operation. The clickoperation may include one or more of a one-click operation, adouble-click operation, and a long-press operation obtained through thedisplay screen, or one or more of a single-click operation, adouble-click operation, and a long-press operation obtained through anapplication (APP) on the display screen. The frame selection operationmay include a frame selection operation obtained on the display screen,or a frame selection operation obtained through an APP on the displayscreen.

Further, when determining the characteristic information of the targetobject, the controller determines the characteristic information of thetarget object in the preview image shot by the shooting device accordingto the obtained tracking trigger operation performed by the user on thepreview image on the display screen.

In an example embodiment, the controller may obtain a click operationperformed by the user on the display screen for the preview image anddetermine a clicked image area according to the click operation, therebyobtaining the characteristic information used to describe the targetobject in the clicked image area according to the clicked image area.The characteristic information of the target object includes one or moreof a length, a width, and coordinate information of the clicked imagearea determined by the click operation. The click operation may includea single-click operation, a double-click operation, or a long-pressoperation.

FIGS. 2A and 2B can be used as examples for illustration. FIG. 2A is aschematic diagram showing an interface of a click operation performed bya user on a display screen for a preview image according to an exampleembodiment of the present disclosure. FIG. 2B is a schematic diagramshowing the interface of obtaining a target object from the previewimage consistent with the embodiments of the present disclosure. Theinterface shown in FIG. 2A includes the preview image shot by theshooting device and displayed on the display screen. The controller canautomatically determine a clicked image area 21 shown in FIG. 2B throughthe click operation performed by the user on a point 20 on the displayscreen shown in FIG. 2A. The controller can use an image in the clickedimage area 21 as the target object, and obtain the characteristicinformation used to describe the target object in the clicked image area21 according to the clicked image area 21, i.e., the length, width,coordinate information, etc., of the clicked image area 21 shown in FIG.2B. When the clicked image area 21 is determined, a menu 22 is alsodisplayed on the display screen. The menu 22 includes options forindicating display position information, such as a center option 221, acurrent position option 222, a custom option 223, a cancel option 224,and a start option 225. If the click operation on the point 20 on thedisplay screen shown in FIG. 2A includes a single click operation, thecontroller can obtain the clicked image area 21 shown in FIG. 2Bdetermined by the click operation, obtain the characteristicinformation, such as the length, width, coordinate information, etc., ofthe clicked image area 21, and determine the object in the clicked imagearea 21 as the target object.

In some embodiments, when the clicked image area is determined, only apreview image but no menu may be displayed on the display screen. FIG.2A can be used as an example for illustration. If the click operation onthe point 20 on the display screen shown in FIG. 2A includes along-press operation, the handheld gimbal is triggered to activate theselfie mode. That is, after the user long-presses the point 20 for acertain time, the controller determines that the user activates thetracking selfie mode and obtains the clicked image area 21 determined bythe long-press operation on the point 20.

In an example embodiment, the controller may determine a target point byobtaining a click operation, perform object estimation and detection onthe preview image with the target point as a center, determine thetarget object, and determine the clicked image area according to thetarget object, thereby obtaining the characteristic information used todescribe the target object in the clicked image area according to theclicked image area.

In a specific implementation process, the controller can determine acoordinate position of the target point according to the obtained clickoperation, and detect whether there is an object on the preview imagewith the target point as the center using a preset detection algorithm.If the controller detects that there is an object on the preview image,the controller determines the target object and determines the clickedimage area according to the target object, thereby determining thecharacteristic information, such as the length, width, coordinateinformation, etc., of the clicked image area of the target object. Thepreset detection algorithm may include one or more detection algorithmsused to determine the target object, which are not limited here. Forexample, assuming that the preset detection algorithm includes asaliency algorithm, the controller can obtain the size and positioninformation of an object with a highest saliency including thecoordinate information of the target point through the saliencyalgorithm, and determine the object as the target object.

In an example embodiment, the controller may obtain the target pointdetermined by the click operation, take the target point as the centerto perform an image enlargement operation on the preview image accordingto a preset ratio, and obtain a frame-selected image area of theenlarged preview image determined by a frame selection operation. Thenthe controller may obtain the characteristic information used todescribe the target object in the frame-selected image area according tothe frame-selected image area. In a specific implementation process, ifthe click operation obtained by the controller is a click operation, thecontroller can obtain the target point determined by the click operationof the user on the display screen, take the target point as the centerto obtain the image after the preview image is enlarged by the user onthe display screen according to a preset ratio. The user can perform aframe selection operation on the enlarged preview image. The controllercan obtain the frame-selected image area determined by the frameselection operation of the user, and determine the characteristicinformation used to describe the length, width, coordinate information,etc., of the frame-selected image area.

Specifically, FIGS. 2C and 2D can be used as examples for illustration.FIG. 2C is a schematic diagram showing the interface of an enlargementoperation on the display screen consistent with the embodiments of thepresent disclosure. FIG. 2D is a schematic diagram showing the interfaceof a frame selection operation on the preview image after theenlargement operation consistent with the embodiments of the presentdisclosure. If the click operation obtained by the controller is a clickoperation on a target point 23 shown in FIG. 2C, the controller canobtain the coordinate information of the target point 23 determined bythe click operation of the user on the display screen. The controllerthen can use the target point 23 as the center to obtain an image 24after the user performs the enlargement operation on the preview imageon the display screen according to a preset ratio. The user can performa frame selection operation on the enlarged preview image 24 as shown inFIG. 2D. The controller can obtain a frame-selected image area 25determined by the frame selection operation of the user, and determinethe characteristic information used to describe the length, width,coordinate information, etc., of the frame-selected image area 25.

In an example embodiment, the controller can obtain the frame selectionoperation performed by the user on the preview image on the displayscreen, determine the frame-selected image area according to the frameselection operation, and obtain the characteristic information used todescribe the target object in the frame-selected image area according tothe frame-selected image area. The controller can obtain the frameselection operation on the display screen, determine the frame-selectedimage area according to the frame selection operation, and obtain thecharacteristic information, for example, the length, width, andcoordinate information, used to describe the target object in theframe-selected image area by calculation.

Specifically, FIGS. 3A and 3B can be used as examples for illustration.FIG. 3A is a schematic diagram showing the interface of the frameselection operation performed by the user on the display screen for thepreview image consistent with the embodiments of the present disclosure.FIG. 3B is another schematic diagram showing the interface of obtainingthe target object from the preview image consistent with the embodimentsof the present disclosure. The interface shown in FIG. 3A is a previewimage shot by the shooting device and displayed on the display screen.The user can perform the frame selection operation on the preview imageshown in FIG. 3A to select an area 30, determine a frame-selected imagearea 31 as shown in FIG. 3B. Then the user can set an image in the frameselection image area 31 as the target object, and obtain thecharacteristic information used to describe the target object in theframe-selected image area 31, that is, the length, width, coordinateinformation, etc. of the frame-selected image area 31 as shown in FIG.3B.

In an example embodiment, when the controller switches the handheldgimbal from the normal shooting mode to the selfie mode, the controllernot only needs to meet a trigger condition corresponding to theabove-described automatic triggering or manual triggering, but alsoneeds to meet another condition. For example, in an example embodiment,the controller switching the handheld gimbal from the normal shootingmode to the selfie mode further includes the controller detecting aselection operation performed by the user to switch the shooting deviceto face the user to shoot. In some embodiments, when the controllerdetects that the handheld gimbal meets the trigger conditioncorresponding to the automatic triggering and detects the selectionoperation of the user to switch the shooting device to face the user toshoot, the controller determines that the handheld gimbal is triggeredto be in the selfie mode. In some embodiments, when the controllerdetects that the handheld gimbal meets the trigger conditioncorresponding to the manual triggering and detects the selectionoperation of the user to switch the shooting device to face the user toshoot, the controller determines that the handheld gimbal is triggeredto be in the selfie mode.

Before the controller detects the selection operation of the user toswitch the shooting device to shoot the user, the controller detects theselection operation of the shooting mode of the handheld gimbal by theuser and determines the shooting mode of the handheld gimbal accordingto the selection operation. Specifically, a key or button may beprovided on the handheld gimbal to enable the user to set the shootingmode of the handheld gimbal by operating the key or button. For example,when the shooting device is a lens mounted at the handheld gimbal, thekey or button can be used to control the rotation of at least one axisof the handheld gimbal to cause the lens to rotate towards the user inthe yaw direction, thereby switching the shooting device to face theuser to shoot. For another example, when the shooting device is a mobilephone mounted at the handheld gimbal, the key or button can be used tocontrol the shooting device to switch to a front camera or switch to arear camera. Accordingly, the controller detects an operation performedby the user on the key or button and determines the shooting mode of thehandheld gimbal according to the operation. For example, when the usersingle-clicks the key or button, the shooting device is switched to facethe user to shoot. Correspondingly, the controller detects thesingle-click operation of the user to switch the shooting device to thefront camera. When the user double-clicks the key or button, theshooting device is switched to the normal shooting mode.Correspondingly, the controller detects the double-click operation ofthe user to switch the shooting device to the normal shooting mode. Thekey or button can include a physical key or physical button provided onthe handle, or a virtual key or virtual button provided on the displayscreen.

The controller detecting the selection operation of the shooting mode ofthe handheld gimbal performed by the user includes detecting theselection operation performed by the user to rotate the shooting devicewith the yaw axis as the rotation axis to face the user. For example,the key or button may be provided at the handheld gimbal, and the key orbutton is used to control the rotation of the shooting device with theyaw axis as the rotation axis. When the user needs to take a selfie, theuser can click or long-press the key or button. During the clicking orlong pressing, the shooting device can continue to rotate with the yawaxis as the rotation axis. When the shooting device rotates to adirection facing the user with the yaw axis as the rotation axis, theuser can stop clicking or pressing the key or button. Correspondingly,the controller can detect the click operation or long-press operation ofthe user on the key or button. When the user clicks or long-presses thekey or button, the controller detects a rotation angle of the shootingdevice with the yaw axis as the rotation axis in real time. When theshooting device rotates to the direction facing the user with the yawaxis as the rotation axis, the controller determines that the shootingdevice is in the selfie mode.

In another embodiment, the controller switching the handheld gimbal fromthe normal shooting mode to the selfie mode further includes thecontroller detecting that a difference between the rotation angle of thehandheld gimbal with the yaw axis as the rotation axis and 180 degreesis less than a first angle threshold, and an angle between the yaw axisof the handheld gimbal and the vertical direction is less than a secondangle threshold. In some embodiments, when the controller detects thatthe handheld gimbal meets the trigger condition corresponding to theautomatic triggering, and detects that the difference between therotation angle of the handheld gimbal with the yaw axis as the rotationaxis and 180 degrees is less than the first angle threshold, and theangle between the yaw axis of the handheld gimbal and the verticaldirection is less than the second angle threshold, the controllerdetermines that the handheld gimbal is triggered to be in the selfiemode. In some embodiments, when the controller detects that the handheldgimbal meets the trigger conditions corresponding to the manualtriggering, and detects that the difference between the rotation angleof the handheld gimbal with the yaw axis as the rotation axis and 180degrees is less than the first angle threshold, and the angle betweenthe yaw axis of the handheld gimbal and the vertical direction is lessthan the second angle threshold, the controller determines that thehandheld gimbal is triggered to be in the selfie mode.

For example, a yaw angle of the handheld gimbal at a current moment is 0degree. Starting from the current moment, the user rotates the handheldgimbal to enable the handheld gimbal to rotate with the yaw axis as therotation axis, thereby constantly changing the yaw angle of the handheldgimbal. When the controller detects that the rotation angle of thehandheld gimbal with the yaw axis as the rotation axis is closed to 180degrees, and the yaw axis of the handheld gimbal remains approximatelyvertical, the controller determines the handheld gimbal is in the selfiemode. In some embodiments, the controller may only detect an attitudechange of the handle of the handheld gimbal and determine the handheldgimbal enters the selfie mode according to the attitude change of thehandle. For example, in some cases, when the handheld gimbal is in astabilization mode for normal shooting, the user rotates the handleabout 180 degrees, indicating that the user wants to use the handheldgimbal to take a selfie, even if the axis of the gimbal remains in thestabilization mode currently, the controller can determine that thehandheld gimbal enters the selfie mode by detecting the attitude changeof the handle.

In an example embodiment, when the handheld gimbal is in the normalshooting mode, the orientation of the lens of the shooting device isopposite to the orientation of the display screen of the handheldgimbal. In this scenario, the handheld gimbal is in a non-selfie mode bydefault. After the handheld gimbal is determined to enter the selfiemode by the manual triggering or automatic triggering, the lens of theshooting device is rotated to be consistent with the orientation of thedisplay screen. In this scenario, both the lens of the shooting deviceand the display screen face the user. When the user takes a selfie, theuser can view a posture and picture composition on the display screen inreal time, which is convenient for the user to adjust in real time tocomplete a more satisfactory selfie.

In an example embodiment, before the controller detects the selectionoperation performed by the user to switch the shooting device to facethe user to shoot, the controller also detects the attitude of thehandheld gimbal and determines the shooting mode of the handheld gimbalaccording to the attitude of the handheld gimbal. Specifically, thecontroller can detect the attitude of the handheld gimbal in real timeand determine the shooting mode of the handheld gimbal according to theattitude of the handheld gimbal. For example, the handheld gimbalincludes a three-axis gimbal. The three-axis gimbal can rotate in thedirections of pitch axis, yaw axis, and roll axis. The controller candetect the rotation angle of the three-axis gimbal in the directions ofthe pitch axis, yaw axis, and roll axis. The controller can determinethe attitude of the handheld gimbal according to the rotation angle, andfurther determine whether the handheld gimbal enters the selfie modeaccording to the attitude of the handheld gimbal.

Refer again to FIG. 1, at S102, the shooting device is controlled totrack the target object according to the characteristic information ofthe target object.

Specifically, when the controller executes process S102, according tothe characteristic information of the target object, a trackingalgorithm is used to control the shooting device to track the targetobject. The tracking algorithm can include a Kanade-Lucas-Tomasi (KLT)feature tracking algorithm or another tracking algorithm.

At S103, the position information of the target object in the shootingimage is determined according to the characteristic information of thetarget object.

As shown in FIG. 4A, 41 and 42 represent two frames of images outputsuccessively by the shooting device, respectively. When the shootingdevice outputs the image 41, the controller detects a target object 43through a neural network model, and determines feature points, such asA, B, C, D, E, F, and G, of the target object 43 according to a featurepoint detection algorithm. Further, the controller may specifically usethe KLT feature tracking algorithm to track the target object 43. Forexample, the controller determines the positions of the feature pointsA, B, C, D, E, F, and G of the image 41 in the image 42 according to theKLT feature tracking algorithm. Then the controller determines theposition of the target object 43 in the image 42 according to thepositions of the feature points A, B, C, D, E, F, and G in the image 42.In some embodiments, the controller may also determine the position ofthe target object 43 in the image after the image 42 to realize thetracking of the target object 43.

Refer again to FIG. 1, at S104, a control parameter of the shootingdevice is adjusted according to the position information of the targetobject in the shooting image, to enable the shooting device to shoot thetarget object in a preset configuration to obtain the shooting image.

At S105, the shooting image is displayed in real time on the displayscreen.

In some embodiments, the preset configuration includes at least one of apreset position of the target object in the shooting image of theshooting device, or a preset size of the target object in the shootingimage of the shooting device.

For example, the target object can be moving or stationary relative tothe handheld gimbal. If the position of the target object in theshooting image is not the preset position, the controller can adjust thecontrol parameter of the shooting device according to the positioninformation of the target object in the shooting image, to cause thetarget object to remain at the preset position in the shooting image ofthe shooting device. In some embodiments, the control parameter of theshooting device may include at least one of a focal length, shutter,aperture, and a shooting attitude. When the control parameter includesthe shooting attitude, adjusting the control parameter of the shootingdevice includes adjusting the attitude of the shooting device along thepitch, yaw, and roll axes.

Alternatively, the target object may be moving relative to the handheldgimbal, the size of the target object in the shooting image changes withtime. When the size of the target object in the shooting image is notthe preset size, the shooting parameter of the shooting device can beadjusted, for example, the shooting device can be controlled to zoom tocause the target object to maintain the preset size in the shootingimage of the shooting device.

In an example embodiment, before the controller controls the shootingdevice to track and shoot the target object according to thecharacteristic information of the target object, the controller alsoneeds to obtain a preview image shot by the shooting device and controlto display the preview image on the display screen.

In an example embodiment, the preset position includes a defaultposition. For example, the preset position may include the position ofthe target object in the preview image.

In another example embodiment, the preset position is set by the user.After controlling to display the preview image on the display screen,the controller also obtains the display position information of thetarget object set at the display screen and sets the preset position asa display position corresponding to the display position information.

For example, the controller obtains the click operation on positionindication information included in a menu set at the display screen, anddetermine the display position information of the target objectaccording to the position indication information determined by the clickoperation. A setting manner of the display position information of thetarget object can include setting through a menu set at the displayscreen, and the menu includes a plurality of position indicationinformation options. The handheld gimbal can determine the displayposition information of the target object according to the obtainedclick operation performed by the user on the position indicationinformation option.

In an example embodiment, the handheld gimbal can obtain the clickoperation on the position indication information option included in themenu set at the display screen, and determine the display positioninformation of the target object according to the position indicationinformation determined by the obtained click operation.

FIG. 2B can be used as an example for illustration. The handheld gimbalcan obtain the click operation on the position indication informationincluded in a menu 22 set at the display screen. If the user clicks acenter option 221 in the menu 22, the handheld gimbal can determine thatthe display position information of the target object indicates a centerposition at the display screen according to obtained center positionindication information determined by the click operation. If the userclicks a cancel option 224, the handheld gimbal can cancel the displayposition information set for the target object to the center position onthe display screen for displaying the preview image. The user can resetthe display position information of the target object. Specifically, themenu 22 can be operated by a single-click operation, a double-clickoperation, or a long-press operation to set selection positionindication information. For another example, if the handheld gimbalobtains the click operation performed by the user on a current positionoption 222 in the menu 22, then the controller can obtain the positionindication information of the current position option 222 determined bythe click operation, and determine that the display position informationof the target object indicates a current position of the target objecton the display screen for displaying the preview image. Similarly, ifthe user clicks the cancel option 224, the handheld gimbal can cancelthe display position information set for the target object to thecurrent position on the display screen for displaying the preview image.The user can reset the display position information of the targetobject. In some embodiments, the display position information of thetarget object includes the obtained position indication informationdetermined by the click operation. In some embodiments, the obtainedposition indication information determined by the click operation may beadjusted according to a preset rule. The display position information ofthe target object includes the position indication information adjustedaccording to the preset rule. For example, the display positioninformation of the target object includes a product of the positionindication information and a first preset coefficient.

The setting manner of the display position information of the targetobject can also include obtaining a drag operation of the clicked imagearea on the display screen and determining the position information ofthe clicked image area dragged by the drag operation as the displayposition information of the target object. In an example embodiment, thehandheld gimbal may obtain the drag operation of the clicked image area,and determine the display position information of the target objectaccording to the obtained position information of the clicked image areadragged by the drag operation. FIG. 2B is used as an example forillustration. If the controller obtains the click operation performed bythe user on the custom option 223 in the menu 22, the user can drag theclicked image area 21 of the target object to any position on thedisplay screen, and use the position of the clicked image area 21dragged by the drag operation as the display position information of thetarget object. For another example, the handheld gimbal can directlydrag the clicked image area 21 of the target object to any positionwithout obtaining the click operation on the custom option 223 in themenu 22, and use the position of the clicked image area 21 dragged bythe drag operation as the display position information of the targetobject. In some embodiments, the display position information of thetarget object includes the obtained position information of the clickedimage area dragged by the drag operation. In some embodiments, theobtained position information of the clicked image area dragged by thedrag operation can be adjusted according to the preset rule. The displayposition information of the target object includes the positioninformation adjusted according to the preset rule. For example, thedisplay position information of the target object includes a product ofthe position information of the clicked image area dragged by the dragoperation and a second preset coefficient.

For another example, the controller can also obtain the frame selectionoperation performed by the user on the preview image on the displayscreen and determine the frame-selected image area according to theframe selection operation. The controller can also obtain the dragoperation on the determined frame-selected image area and determine thedisplay position information of the target object according to theobtained position information of the frame-selected image area draggedby the drag operation. FIG. 3B is used as an example for illustration.The user can directly drag the frame-selected image area 31 of thetarget object to any position, and use the position of theframe-selected image area 31 dragged by the drag operation as thedisplay position information of the target object. In some embodiments,the display position information of the target object is the obtainedposition information of the framed image area dragged by the dragoperation. In some embodiments, the obtained position information of theframe-selected image area dragged by the drag operation can be adjustedaccording to the preset rule. The display position information of thetarget object includes the position information adjusted according tothe preset rule. For example, the display position information of thetarget object includes a product of the position information of theframe-selected image area dragged by the drag operation and a thirdpreset coefficient.

In an example embodiment, the preset size includes a default size. Forexample, the preset size may include the size of the target object inthe preview image.

In another example embodiment, after the controller controls to displaythe preview image shot by the shooting device on the display screen, thecontroller also obtains display size information of the target objectset on the display screen, and the preset size includes a display sizecorresponding to the display size information.

For example, referring to FIG. 2D, the controller obtains the clickoperation performed by the user on the display screen for the previewimage. After the clicked image area 25 is determined by the clickoperation, the user can manually adjust the size of a target frame ofthe clicked image area to realize enlargement or reduction of theclicked image area 25. The preset size is determined according to thesize of the clicked image area manually adjusted by the user. In someembodiments, the preset size includes the size of the clicked image areamanually adjusted by the user. In some embodiments, the size of theclicked image area manually adjusted by the user can be adjustedaccording to the preset rule. The preset size includes the size of theclicked image area adjusted according to the preset rule. For example,the preset size includes a product of the size of the clicked image areamanually adjusted by the user and a fourth preset coefficient.

For another example, referring to FIG. 3B, the controller obtains theframe selection operation performed by the user on the display screenfor the preview image, and determines the frame-selected image area 31according to the frame selection operation. The user can manually adjustthe size of target frame of the frame-selected image area to realize theenlargement or reduction of the frame-selected image area 31. The presetsize is determined according to the size of the frame-selected imagearea manually adjusted by the user. In some embodiments, the preset sizeincludes the size of the frame-selected image area manually adjusted bythe user. In some embodiments, the size of the frame-selected image areamanually adjusted by the user can be adjusted according to preset rule.The preset size includes the size of the frame-selected image areaadjusted according to the preset rule. For example, the preset sizeincludes a product of the size of the frame-selected image area manuallyadjusted by the user and the fourth preset coefficient.

During tracking and shooting, the position of the target object indifferent shooting images may be different. In this scenario, thecontroller can adjust the control parameter of the shooting device tokeep the target object at the preset position of the shooting image ofthe shooting device.

In an example embodiment, the controller adjusts the shooting attitudeof the shooting device according to the position information of thetarget object in the shooting image, to cause the target object to be atthe preset position of the shooting image. As shown in FIG. 4B, theposition of the target object 43 in the shooting image 41 is differentfrom the position of the target object 43 in the shooting image 42. Inthis scenario, the controller can adjust the shooting attitude of theshooting device to cause the target object 43 to remain at the presetposition of the shooting image. In some embodiments, the shootingattitude of the shooting device is adjusted by controlling the attitudeof the gimbal.

Further, after the controller adjusts the shooting attitude of theshooting device by controlling the attitude of the gimbal, thecontroller also determines reliability of a target shooting imageaccording to the characteristic information of the target object andtracking information of the target object determined in the targetshooting image, and determines the attitude of the gimbal according tothe reliability. The reliability is used to indicate tracking accuracyof the target shooting image obtained by the shooting device trackingand shooting the target object determined at the preview image. Forexample, the characteristic information obtained by the handheld gimbalat the preview image includes the length, width, and GPS coordinateposition of the frame-selected image area. The controller determines thelength, width, and GPS coordinate position, i.e., the trackinginformation. of the target object in the target shooting image. Thecontroller can calculate the reliability of the target shooting image.

In an example embodiment, when the controller determines the attitude ofthe gimbal according to the reliability, the controller can detectwhether the obtained reliability is less than a preset threshold. Whenthe reliability is less than the preset threshold, the controller canperform a full image detection on the target shooting image. If there isa target object in the detection result, the controller can obtaindetection position information of the target object in the targetshooting image, and determine the attitude of the gimbal according tothe detection position information and the position informationcorresponding to the preset position. For example, if the controllerdetermines that the GPS coordinate position of the target shooting imageis far from the GPS coordinate position of the frame-selected image areaobtained on the preview image to cause the calculated reliability to beless than the preset threshold, the controller can perform a full imagedetection on the target shooting image. If the target object is detectedin the full image, the controller can obtain the detection positioninformation of the target object in the target shooting image anddetermine the attitude of the gimbal according to the detection positioninformation and the display position information, to cause thecharacteristic information of the target object in the target shootingimage to be same as the characteristic information of the target objectset in the preview image.

In an example embodiment, when the controller determines the attitude ofthe gimbal according to the detection position information and theposition information corresponding to the preset position, thecontroller specifically determines the rotation angle of the gimbalaccording to the detection position information and the positioninformation of the preset position. In a specific implementationprocess, the controller can calculate the difference between thecharacteristic information of the target object in the target shootingimage and the characteristic information of the target object set on thepreview image according to the obtained detection position informationand display position information of the target object in the targetshooting image. The controller then determines the rotation angle of thegimbal according to the difference and controls the gimbal to rotate therotation angle to enable the shooting device mounted at the gimbal toadjust the shooting angle according to the rotation of the gimbal,thereby causing the characteristic information of the target object inthe target shooting image to be same as the characteristic informationof the target object set on the preview image, and improving efficiencyof the tracking and shooting.

In the embodiments of the present disclosure, the handheld gimbalobtains the tracking information on the target image to determine thereliability of the target shooting image. When the reliability is lessthan the preset threshold, the controller performs a full imagedetection on the target shooting image. If there is a target object inthe detection result, the controller determines the rotation angle ofthe gimbal according to the detection position information and thedisplay position information, to enable the shooting device mounted atthe gimbal to adjust the shooting angle and shoot to obtain the targetshooting image same as the characteristic information set on the previewimage. In this way, the controller can detect and adjust the result oftracking and shooting, to improve the accuracy of tracking and shooting.

In some embodiments, the method further includes cropping an areaincluding the target object in the shooting image to cause the targetobject to be at the preset position of the shooting image. As shown inFIG. 4C, the target object 43 is relatively large in the shooting image41 and relatively small in the shooting image 42. To enlarge the targetobject 43 in the shooting image 42 to a preset size, the controller maycrop an area, such as the area 44 of the frame 42 including the targetobject 43, and enlarge the cropped area 44, thereby causing the size ofthe target object 43 in the shooting image to be same as the presetsize, and keeping the target object 43 at the preset position of theshooting image, for example, keeping the target object 43 at the centerof the shooting image.

In addition, during the tracking and shooting process, the size of thetarget object in different shooting images may be different. In thisscenario, the controller can adjust the shooting parameter of theshooting device according to the position information of the targetobject in the shooting image, to keep the target object at the presetsize in the shooting image. As shown in FIG. 4A, the size of the targetobject 43 varies in different shooting images. For example, the targetobject 43 is relatively large in the shooting image 41 and relativelysmall in the shooting image 42. When tracking the target object 43, thecontroller can control the shooting parameter of the shooting device tokeep the target object 43 at the preset size in the shooting image ofthe shooting device.

In some embodiments, when the controller adjusts the shooting parameterof the shooting device according to the position information of thetarget object in the shooting image, to keep the target object at thepreset size in the shooting image, the controller specifically controlsthe shooting device to zoom according to the position information of thetarget object in the shooting image, to keep the target object at thepreset size in the shooting image. As shown in FIG. 4A, the targetobject 43 is relatively large in the shooting image 41 and relativelysmall in the shooting image 42. In this scenario, the controller mayadjust the focal length of the shooting device to cause the sizes of thetarget object 43 in the shooting image 41 and the shooting image 42 tobe the preset size.

In some embodiments, the method further includes cropping the areaincluding the target object in the shooting image, to keep the targetobject at the preset size in the shooting image. As shown in FIG. 4C,the target object 43 is relatively large in the shooting image 41 andrelatively small in the shooting image 42. The size of the target object43 in the shooting image 42 is smaller than the preset size. To enlargethe target object 43 in the shooting image 42 to the preset size, thecontroller may crop the area, such as the area 44 of the frame 42including the target object 43, and enlarge the cropped area 44, therebycausing the size of the target object 43 in the shooting image to besame as the preset size.

FIG. 5 is a schematic flow chart of a shooting control method for thehandheld gimbal according to another example embodiment of the presentdisclosure. As shown in FIG. 5, process S104 in the embodiments shown inFIG. 1 specifically includes the following processes.

At S501, the feature points of a plurality of target objects aredetermined according to the position information of the plurality oftarget objects in the shooting image.

At S502, the shooting parameter of the shooting device is adjustedaccording to the feature points of the plurality of target objects toenable the plurality of target objects to be at the preset positions ofthe shooting image.

As shown in FIG. 6A, the shooting image 60 output by the shooting deviceincludes a plurality of target objects, such as the target object 61,the target object 62, and the target object 63. The controller detectsthe feature points of the plurality of target objects, respectively. Forexample, the feature points of the target object 61 detected are A, B,C, D, E, F, and G. The controller determines the position information ofthe center point M1 of the target object 61 in the shooting image 60according to the position information of the feature points of thetarget object 61 in the shooting image 60. Similarly, the controllerdetermines the position information of the center point M2 of the targetobject 62 in the shooting image 60, and the position information of thecenter point M3 of the target object 63 in the shooting image 60. Thesize of the target object 61, the target object 62, and the targetobject 63 in the shooting image 60 may be different. When calculatingthe center points of the target object 61, the target object 62, and thetarget object 63, respectively, the controller can weight the featurepoints of each the target object to obtain the center point of each thetarget object in the shooting image according to the size of each targetobject in the shooting image.

The controller can control the shooting parameter of the shootingdevice, such as adjust the focal length of the shooting device and/orcontrol the shooting attitude of the shooting device, according to theposition information of the center point M1, the center point M2, andthe center point M3 in the shooting image 60, to cause the target object61, the target object 62, and the target object 63 to be maintained atthe preset positions of the shooting image. In some embodiments,controlling the shooting parameter of the shooting device to keep thetarget object 61, the target object 62, and the target object 63 at thepreset positions of the shooting image may include the followingpossible implementation manners.

A feasible implementation manner includes, as shown in FIG. 6B,according to the position information of the center point M1, the centerpoint M2, and the center point M3 in the shooting image 60, determiningthe position information of the center point M of the center point M1,the center point M2, and the center point M3 in the shooting image 60.Further according to the position information of the center point M inthe shooting image 60, the shooting parameter of the shooting device iscontrolled to cause the center point M to be maintained at the presetposition of the shooting image. For example, the center point M ismaintained at the center position of the shooting image 64. In someembodiments, the center point M of the center point M1, the center pointM2, and the center point M3 may be the center point of a geometricfigure formed by the center point M1, the center point M2, and thecenter point M3.

In some embodiments, because the sizes of the target object 61, thetarget object 62, and the target object 63 in the shooting image 60 maybe different. When calculating the position information of the centerpoint M in the shooting image 60, the position information of the centerpoint M1, the center point M2, and the center point M3 is weighted andcalculated according to the sizes of the target objects in the shootingimage to obtain the position information of the center point M in theshooting image 60. Another feasible implementation manner includes, asshown in FIG. 6C, according to the position information of the centerpoint M1, the center point M2, and the center point M3 in the shootingimage 60, controlling the shooting parameter of the shooting device tocause at least one of the center point M1, the center point M2, or thecenter points M3 to be maintained at the preset position of the shootingimage. For example, the center point M2 is maintained at the centerposition of the shooting image 65.

Controlling the shooting parameter of the shooting device to cause theplurality of target objects to be maintained at the preset positions ofthe shooting image according to the center points of the plurality oftarget objects is only one of the feasible implementation manners. Inother embodiments, the shooting parameter of the shooting device can becontrolled according to another characteristic points of the pluralityof target objects to cause the plurality of target objects to bemaintained at the preset positions of the shooting image, which is notlimited here.

In an example embodiment, the specific method and principle ofcontrolling the control parameter of the shooting device are consistentwith the above-described embodiments, which are omitted here.

In an example embodiment, the center points of the plurality of targetobjects are determined according to the position information of theplurality of target objects in the shooting image. The shootingparameter of the shooting device is controlled according to the centerpoints of the plurality of target objects to cause the center points tobe at the preset positions of the shooting image of the shooting device,thereby realizing the picture composition of the plurality of targetobjects by the handheld gimbal in the selfie mode.

FIG. 7 is a schematic flow chart of a shooting control method for thehandheld gimbal according to another example embodiment of the presentdisclosure. As shown in FIG. 7, process S104 in the embodiments shown inFIG. 1 specifically includes the following processes.

At S701, the target object matching a preset object included in theplurality of target objects in the shooting image is determined.

At S702, the shooting parameter of the shooting device is adjustedaccording to the position information of the target object matching thepreset object included in the plurality of target objects in theshooting image, to cause the target object matching the preset objectincluded in the plurality of target objects to be at the preset positionof the shooting image.

In an example embodiment, the handheld gimbal may be pre-stored withimage information or feature point information of the preset object. Thepreset object may specifically include the user of the handheld gimbal.When the controller detects a plurality of target objects in the imageoutput by the shooting device, the controller can compare the imageinformation of each of the plurality of target objects with the imageinformation of the preset object to determine the target object matchingthe preset object included in the plurality of target objects.

As shown in FIG. 6A, if the target object 62 matches the preset object,the controller controls the shooting parameter of the shooting device,for example, adjusts the focal length of the shooting device and/orcontrols the shooting attitude of the shooting device, according to theposition information of the target object 62 in the shooting image, tocause the target object 62 to be maintained at the preset position ofthe shooting image, for example, cause the target object 62 to bemaintained at the center position of the shooting image, therebyrealizing the picture composition of the plurality of target objects.

In an example embodiment, the specific method and principle ofcontrolling the control parameter of the shooting device are consistentwith the above-described embodiments, which are omitted here.

In an example embodiment, the target object matching the preset objectof the plurality of target objects is detected according to the positioninformation of the plurality of target objects in the shooting image.The shooting parameter of the shooting device is controlled according tothe position information of the target object matching the preset objectof the plurality of target objects in the shooting image to cause thetarget object matching the preset object of the plurality of targetobjects to be at the preset position of the shooting image of theshooting device, thereby realizing the picture composition of theplurality of target objects by the shooting device in the selfie mode.

The shooting control method of the handheld gimbal consistent with theembodiments of the present disclosure includes, when the handheld gimbalis in the selfie mode, in the process of tracking and shooting thetarget object, according to the position information of the targetobject in the shooting image, adjusting the control parameter of theshooting device in real time to cause the configuration of the shootingdevice during the tracking and shooting process to be always the presetconfiguration, thereby causing the composition of the shooting image tomeet the demand and avoiding manual operation by the user during thetracking and shooting. The method further includes displaying theshooting image in real time through the display screen to prevent theuser from being unable to view the composition of the shooting image toaffect the shooting effect of the handheld gimbal.

With reference to FIGS. 8 and 9, a handheld gimbal consistent with anexample embodiment of the present disclosure includes a handle 100, agimbal 200 fixedly connected to the handle 100, a shooting device 300mounted at the gimbal 200, a display screen 400 and a controller 500provided on the handle 100. The controller 500 is electrically connectedto the gimbal 200, the shooting device 300, and the display screen 400.

The shooting device 300 is used to shoot an image and send the image tothe controller 500. The controller 500 is used to, according to thereceived image, when the handheld gimbal is in the selfie mode,determine the characteristic information of the target object, controlthe shooting device 300 to track and shoot the target object accordingto the characteristic information of the target object, determine theposition information of the target object in the shooting imageaccording to the characteristic information of the target object, adjustthe control parameter of the shooting device 300 according to theposition information of the target object in the shooting image toenable the shooting device 300 to shoot the target object in a presetconfiguration to obtain the shooting image, and control the displayscreen to display the shooting image in real time.

The handheld gimbal consistent with the embodiments shown in FIG. 8 andFIG. 9 can be used to implement the technical solutions of theabove-described method embodiments. The implementation principles andtechnical effects are similar, which are omitted here.

In addition, the controller 500 may include a central processing unit(CPU). The controller 500 may further include a hardware chip. Thehardware chip may include an application-specific integrated circuit(ASIC), a programmable logic device (PLD), or a combination thereof. Theabove-described PLD may include a complex programmable logic device(CPLD), a field-programmable gate array (FPGA), a generic array logic(GAL), or any combination thereof.

In addition, a computer-readable storage medium consistent with theembodiments of the present disclosure stores a computer program. Whenthe program is executed by a processor, the processes of the shootingcontrol method for a handheld gimbal consistent with the above-describedembodiments can be implemented.

Those skilled in the art can understand that part or all of theprocesses of a method consistent with the embodiments can be implementedby instructing relevant hardware through a computer program. Thecomputer program can be stored in a computer-readable storage medium.The computer program can include instructions that enable a computerdevice to perform part or all of a method consistent with thedisclosure, such as one of the example methods described above. Thestorage medium can be any medium that can store program codes, forexample, a magnetic disk, an optical disk, a read-only memory (ROM), ora random-access memory (RAM), etc.

What is claimed is:
 1. A shooting control method comprising: determininga handheld gimbal is in a selfie mode; determining a target object;controlling a shooting device of the handheld gimbal to track and shootthe target object according to the target object; determining positioninformation of the target object in a shooting image according to thetarget object; adjusting a control parameter of the shooting deviceaccording to the position information of the target object in theshooting image, to enable the shooting device to shoot the target objectin a preset configuration to obtain the shooting image; and displayingthe shooting image.
 2. The method of claim 1, wherein the presetconfiguration includes at least one of: a preset position of the targetobject in the shooting image of the shooting device; or a preset size ofthe target object in the shooting image of the shooting device.
 3. Themethod of claims 2, wherein: the control parameter includes a shootingparameter; and adjusting the control parameter of the shooting deviceaccording to the position information of the target object in theshooting image, to enable the shooting device to shoot the target objectin the preset configuration to obtain the shooting image includes:adjusting the shooting parameter of the shooting device according to theposition information of the target object in the shooting image, to keepthe target object with the preset size in the shooting image.
 4. Themethod of claims 2, wherein: the control parameter includes a shootingattitude; and adjusting the control parameter of the shooting deviceaccording to the position information of the target object in theshooting image, to enable the shooting device to shoot the target objectin the preset configuration to obtain the shooting image includes:adjusting the shooting attitude of the shooting device according to theposition information of the target object in the shooting image, tocause the target object to be at the preset position of the shootingimage.
 5. The method of claim 4, further comprising: cropping an areaincluding the target object in the shooting image to cause the targetobject to be at the preset position of the shooting image.
 6. The methodof claim 4, wherein: the shooting device is mounted at a gimbal of thehandheld gimbal; and adjusting the shooting attitude of the shootingdevice includes adjusting the shooting attitude of the shooting deviceby controlling an attitude of the gimbal.
 7. The method of claim 6,further comprising, after adjusting the shooting attitude of theshooting device by controlling the attitude of the gimbal: determining areliability of a target shooting image according to characteristicinformation of the target object and tracking information of the targetobject determined in the target shooting image, the reliability beingconfigured to indicate a tracking accuracy of the target shooting imageobtained by the shooting device tracking and shooting the target objectdetermined at the preview image; and determining the attitude of thegimbal according to the reliability.
 8. The method of claim 7, whereindetermining the attitude of the gimbal according to the reliabilityincludes: in response to the reliability being less than a presetthreshold, performing a full image detection on the target shootingimage; in response to the target object existing in a detection result,obtaining detection position information of the target object in thetarget shooting image; and determining the attitude of the gimbalaccording to the detection position information and the positioninformation corresponding to the preset position.
 9. The method of claim8, wherein determining the attitude of the gimbal according to thedetection position information and the position informationcorresponding to the preset position includes: determining a rotationangle of the gimbal according to the detection position information andthe position information corresponding to the preset position.
 10. Themethod of claim 2, further comprising, before controlling the shootingdevice to track and shoot the target object according to characteristicinformation of the target object: obtaining a preview image shot by theshooting device; and displaying the preview image.
 11. The method ofclaim 10, further comprising, after displaying the preview image:obtaining display position information of the target object set at adisplay screen; and setting the preset position to be a display positioncorresponding to the display position information.
 12. The method ofclaim 11, wherein obtaining the display position information of thetarget object set at the display screen includes: obtaining a clickoperation on position indication information included in a menu set atthe display screen; and determining the display position information ofthe target object according to the position indication informationdetermined by the click operation.
 13. The method of claim 11, whereinobtaining the display position information of the target object set atthe display screen includes: obtaining a click operation performed by auser on the display screen for the preview image; determining a clickedimage area according to the click operation; obtaining a drag operationon the determined clicked image area; and determining the displayposition information of the target object according to positioninformation of the clicked image area after being dragged by the dragoperation.
 14. The method of claim 11, wherein obtaining the displayposition information of the target object set at the display screenincludes: obtaining a frame selection operation performed by a user onthe display screen for the preview image; determining a frame-selectedimage area according to the frame selection operation; obtaining a dragoperation on the determined frame-selected image area; and determiningthe display position information of the target object according toposition information of the frame-selected image area after beingdragged by the drag operation.
 15. The method of claim 10, furthercomprising, after displaying the preview image shot by the shootingdevice: obtaining display size information of the target object set at adisplay screen; and setting the preset size to be a display sizecorresponding to the display size information.
 16. A handheld gimbalcomprising: a handle; a gimbal fixedly connected to the handle; ashooting device mounted at the gimbal and configured to shoot images;and a controller electrically connected to the gimbal and the shootingdevice, and configured to receive images shot by the shooting deviceand, according to the received image: determine whether the handheldgimbal is in a selfie mode; determine a target object; control theshooting device to track and shoot the target object according to targetobject; determine position information of the target object in ashooting image according to the target object; adjust a controlparameter of the shooting device according to the position informationof the target object in the shooting image, to enable the shootingdevice to shoot the target object in a preset configuration to obtainthe shooting image; and control to display the shooting image.
 17. Thehandheld gimbal of claim 16, wherein the preset configuration includesat least one of: a preset position of the target object in the shootingimage of the shooting device; or a preset size of the target object inthe shooting image of the shooting device.
 18. The handheld gimbal ofclaim 17, wherein the controller is further configured to, beforecontrolling the shooting device to track and shoot the target objectaccording to characteristic information of the target object: obtain apreview image taken by the shooting device; and control to display thepreview image.
 19. The handheld gimbal of claims 17, wherein: thecontrol parameter includes a shooting attitude; and the controller isfurther configured to: adjust the shooting attitude of the shootingdevice according to the position information of the target object in theshooting image, to cause the target object to be at the preset positionof the shooting image.
 20. The handheld gimbal of claim 19, wherein thecontroller is further configured to: adjust the shooting attitude of theshooting device by controlling an attitude of the gimbal.